授权码日期修改为由GPS周与周毫秒获取

ArduCopter/system.cpp

@@ -1,6 +1,7 @@
 #include "Copter.h"
 #include <AP_BLHeli/AP_BLHeli.h>
-
+#include <sys/time.h>
+ #include <time.h>
 /*****************************************************************************
 *   The init_ardupilot function processes everything we need for an in - air restart
 *        We will determine later if we are actually on the ground and process a
@@ -335,12 +336,21 @@ bool Copter::position_ok() const
 
 bool Copter::deadline_ok() 
 {
-
     int32_t deadline =0;
     copter.get_deadline_params(deadline);
     int32_t gps_date =0;
-     AP::gps().get_gps_headline_value(gps_date);
-    if ((deadline - gps_date) >= 0)
+if((AP::gps().time_week() ==0)||(AP::gps().time_week_ms() ==0)){
+    return  false;
+}
+    uint64_t timestamp  = AP::gps().time_epoch_convert(AP::gps().time_week(),AP::gps().time_week_ms())/1000;
+      //tick  -timestamp - uint:s
+    time_t tick = (time_t)timestamp;
+     tm  gpstime = *localtime(&tick);
+     uint16_t year = gpstime.tm_year+1900;
+     uint8_t month = gpstime.tm_mon+1;
+     uint8_t day = gpstime.tm_mday;
+    gps_date = year*10000+month*100+day;
+    if (deadline>=  gps_date)
     {
         return true;
     }

libraries/AP_GPS/AP_GPS.cpp

@@ -1179,11 +1179,7 @@ void AP_GPS::Write_AP_Logger_Log_Startup_messages()
     }
 }
 
-void  AP_GPS::get_gps_headline_value(int32_t & gps_date_time){
 
-   gps_date_time = state[GPS_BLENDED_INSTANCE].zr_date_timestamp;
-
-}
 /*
   return the expected lag (in seconds) in the position and velocity readings from the gps
   return true if the GPS hardware configuration is known or the delay parameter has been set
@@ -1600,7 +1596,6 @@ void AP_GPS::calc_blended_state(void)
         // use data from highest weighted sensor
         state[GPS_BLENDED_INSTANCE].time_week = state[best_index].time_week;
         state[GPS_BLENDED_INSTANCE].time_week_ms = state[best_index].time_week_ms;
-        state[GPS_BLENDED_INSTANCE].zr_date_timestamp = state[best_index].zr_date_timestamp;
     } else {
         // use week number from highest weighting GPS (they should all have the same week number)
         state[GPS_BLENDED_INSTANCE].time_week = state[best_index].time_week;
@@ -1612,7 +1607,6 @@ void AP_GPS::calc_blended_state(void)
             }
         }
         state[GPS_BLENDED_INSTANCE].time_week_ms = (uint32_t)temp_time_0;
-        state[GPS_BLENDED_INSTANCE].zr_date_timestamp = state[best_index].zr_date_timestamp;
     }
 
     // calculate a blended value for the timing data and lag

libraries/AP_GPS/AP_GPS.h

@@ -154,7 +154,6 @@ public:
         bool have_gps_yaw_accuracy;       ///< does the GPS give a heading accuracy estimate? Set to true only once available
         uint32_t last_gps_time_ms;          ///< the system time we got the last GPS timestamp, milliseconds
         uint32_t uart_timestamp_ms;         ///< optional timestamp from set_uart_timestamp()
-        uint32_t zr_date_timestamp;     //2020-03-26  =  20200326
         // all the following fields must only all be filled by RTK capable backend drivers
         uint32_t rtk_time_week_ms;         ///< GPS Time of Week of last baseline in milliseconds
         uint16_t rtk_week_number;          ///< GPS Week Number of last baseline
@@ -438,7 +437,6 @@ public:
 
     // handle possibly fragmented RTCM injection data
     void handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_t len);
-    void   get_gps_headline_value(int32_t & gps_date_time);
 protected:
 
     // configuration parameters

libraries/AP_GPS/GPS_Backend.cpp

@@ -94,7 +94,6 @@ void AP_GPS_Backend::make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds)
         rmon += 12;
         year -= 1;
     }
-    state.zr_date_timestamp =(year+2000)*10000+mon*100+day;  //FIXME  only calcute onecs
 
     // get time in seconds since unix epoch
     uint32_t ret = (year/4) - (GPS_LEAPSECONDS_MILLIS / 1000UL) + 367*rmon/12 + day;